Unclear variable names in Bundle adjustment notebook

[Helaly96]

Very unclear names,
https://github.com/scipy/scipy-cookbook/blob/master/ipython/bundle_adjustment.ipynb

i don't understand the variable used in this code at all? for example:

points_2d with shape (n_observations, 2) contains measured 2-D coordinates of points projected on images in each observations.

in what image exactly are the coordinates given, assuming i see the point in multiple images, what coordinate do i enter exactly?

[undxu]

Hey, I have another question regarding the variables of the script from @nmayorov about bundle adjustment:

For me all variables are clear exept the camera_params. For the rotation and translation: In which cooridnate system should I calculate/describe the rotation and translation: the coordinate system of the camera or a world fixed coordinate system. And which way is the rotation? From Camera Perspective to world frame or the other way round?

Also a little question to the focal lenght. Should I use the alpha (=f * m, which is the focal lenght in pixels) as used in the intrinsic matrix for exaple from opencv camera calibration?

[nmayorov]

@Helaly96 @undxu

I've tried to address the questions you've raised. Check the pull request and comment :)